GrabBag/App/DroneScrewbolt/DroneScrewServer/DroneScrewZmqProtocol.h

#ifndef DRONESCREW_ZMQ_PROTOCOL_H
#define DRONESCREW_ZMQ_PROTOCOL_H

#include <QObject>
#include <QString>
#include <QByteArray>
#include <QJsonObject>
#include <atomic>
#include <functional>
#include <memory>
#include <mutex>

#include "IVrZeroMQServer.h"
#include "IVrZeroMQPubSub.h"
#include "Algo/IDroneScrewAlgo.h"
#include "IMvsDevice.h"

class QUdpSocket;

/**
 * @brief 板一 ZMQ 协议层
 *
 * - REP socket：接收板二的同步控制指令（启停、单次检测、参数调整、获取信息）
 * - PUB socket：异步发布检测结果，板二订阅显示
 *
 * 协议消息使用 JSON 编码（可在后续替换为 Protobuf）。
 *
 * 控制指令格式：
 *   { "cmd": "start" }
 *   { "cmd": "stop" }
 *   { "cmd": "single" }
 *   { "cmd": "set_exposure", "value": 10000 }
 *   { "cmd": "set_gain", "value": 1.0 }
 *   { "cmd": "set_algo_params", "score": 0.5, "nms": 0.45, "width": 640, "height": 640 }
 *   { "cmd": "swap_cameras" }
 *   { "cmd": "get_info" }
 *
 * 应答统一格式：
 *   { "ok": true, "code": 0, "msg": "", ... }
 *
 * 结果发布主题：
 *   topic: "result"
 *   payload: { "frameId": .., "ts": .., "boxes": [ {cls,score,x,y,w,h}, ... ] }
 */
class DroneScrewZmqProtocol : public QObject
{
    Q_OBJECT

public:
    explicit DroneScrewZmqProtocol(QObject* parent = nullptr);
    ~DroneScrewZmqProtocol() override;

    /**
     * @brief 启动 ZMQ 协议层
     * @param controlPort  REQ-REP 控制端口
     * @param resultPort   PUB 检测结果端口 (topic="result")
     * @param rawImagePort PUB 原始图像端口 (topic="raw")，<=0 表示不启用
     */
    bool startServer(int controlPort, int resultPort, int rawImagePort);
    void stopServer();

    void setRtspUrl(const QString& url) { m_rtspUrl = url; }
    void setSingleDetectionHandler(std::function<DroneScrewResult()> handler)
    {
        m_singleDetectionHandler = std::move(handler);
    }
    void setStartWorkHandler(std::function<int()> handler)
    {
        m_startWorkHandler = std::move(handler);
    }
    void setStopWorkHandler(std::function<int()> handler)
    {
        m_stopWorkHandler = std::move(handler);
    }
    void setStartLiveStreamHandler(std::function<int()> handler)
    {
        m_startLiveStreamHandler = std::move(handler);
    }
    void setStopLiveStreamHandler(std::function<int()> handler)
    {
        m_stopLiveStreamHandler = std::move(handler);
    }
    void setSwapCameraRolesHandler(std::function<int()> handler)
    {
        m_swapCameraRolesHandler = std::move(handler);
    }
    void setServerInfoProvider(std::function<QJsonObject()> provider)
    {
        m_serverInfoProvider = std::move(provider);
    }
    void setCalibrationInfoProvider(std::function<QJsonObject()> provider)
    {
        m_calibrationInfoProvider = std::move(provider);
    }

    int  controlPort()  const { return m_controlPort; }
    int  resultPort()   const { return m_resultPort; }
    int  rawImagePort() const { return m_rawImagePort; }

signals:
    void rawImagePublishEnabledRequested(bool enabled);
    void detectModeRequested(const std::string& mode);
    void setExposureRequested(double exposureTime);
    void setGainRequested(double gain);
    void updateAlgoParamsRequested(const DroneScrewAlgoParams& params);

public slots:
    /**
     * @brief 接收 presenter 信号，封装为 ZMQ 发布（topic="result"）
     */
    void publishDetectionResult(const DroneScrewResult& result);

    /**
     * @brief 接收 presenter 采集到的双目原始相机帧并以 ZMQ PUB（topic="raw"）广播
     *
     * payload = WDRemoteBinocularRawImageHeader(88B) + left raw bytes + right raw bytes
     */
    void publishRawImage(const MvsImageData& left, const MvsImageData& right);

private:
    QByteArray handleControlMessage(const QByteArray& reqData);
    bool startDiscoveryServer();
    void stopDiscoveryServer();
    void handleDiscoveryDatagrams();

private:
    IVrZeroMQServer*     m_pZmqServer{nullptr};
    IVrZeroMQPublisher*  m_pZmqPublisher{nullptr};       // topic="result"
    IVrZeroMQPublisher*  m_pZmqRawPublisher{nullptr};    // topic="raw"
    QUdpSocket*          m_pDiscoverySocket{nullptr};    // UDP broadcast discovery
    std::atomic<bool>    m_bRunning{false};
    QString              m_rtspUrl;
    int                  m_controlPort{0};
    int                  m_resultPort{0};
    int                  m_rawImagePort{0};
    std::mutex           m_pubMutex;
    std::mutex           m_rawMutex;
    std::mutex           m_singleMutex;
    std::function<DroneScrewResult()> m_singleDetectionHandler;
    std::function<int()> m_startWorkHandler;
    std::function<int()> m_stopWorkHandler;
    std::function<int()> m_startLiveStreamHandler;
    std::function<int()> m_stopLiveStreamHandler;
    std::function<int()> m_swapCameraRolesHandler;
    std::function<QJsonObject()> m_serverInfoProvider;
    std::function<QJsonObject()> m_calibrationInfoProvider;
};

#endif // DRONESCREW_ZMQ_PROTOCOL_H